Frank Dellaert
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6da59d73bd
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Merged in feature/ImuFactorPush2 (pull request #200)
ImuFactor with NavState manifold pre-integration
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2016-02-01 17:44:57 -08:00 |
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dellaert
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ff1c27ba62
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Got rid of spurious malloc (hard to find! Vector should have been Vector3)
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2016-02-01 16:47:13 -08:00 |
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dellaert
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adcf60f559
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Cross-platform check
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2016-02-01 15:11:54 -08:00 |
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dellaert
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1556c25464
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Test changing bias and non-zero coriolis
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2016-02-01 14:53:33 -08:00 |
Frank Dellaert
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f5380283a1
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Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2
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2016-02-01 13:13:44 -08:00 |
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Frank Dellaert
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8fe3da6d9b
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Merged in feature/SO3_refactor (pull request #213)
Feature/so3_refactor
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2016-02-01 13:13:19 -08:00 |
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Frank Dellaert
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d2a2fbbc82
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Merge remote-tracking branch 'origin/feature/SO3_refactor' into feature/ImuFactorPush2
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2016-02-01 13:08:15 -08:00 |
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Frank Dellaert
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e3954d541a
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SO3.cpp edited online with Bitbucket: KK not K*K
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2016-02-01 21:07:50 +00:00 |
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Frank Dellaert
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b4edfc2576
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One last improvement before Duy works out the *true* solution :-)
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2016-02-01 13:04:12 -08:00 |
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Frank Dellaert
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4f214ad7d1
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Now use applyInvDexp
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2016-02-01 12:55:24 -08:00 |
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Frank Dellaert
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117f9c3a4e
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Merge remote-tracking branch 'origin/feature/SO3_refactor' into feature/ImuFactorPush2
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2016-02-01 12:48:07 -08:00 |
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Frank Dellaert
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5e8ff450ee
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applyInvDexp
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2016-02-01 12:43:05 -08:00 |
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Frank Dellaert
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255c3a8ec3
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Merge remote-tracking branch 'origin/feature/SO3_refactor' into feature/ImuFactorPush2
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2016-02-01 09:48:18 -08:00 |
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Frank Dellaert
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8c6383c711
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Expose functor for outside use
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2016-02-01 09:47:57 -08:00 |
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Frank Dellaert
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7c2560e977
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Now exact derivatives with beautiful functor
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2016-02-01 09:29:50 -08:00 |
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Frank Dellaert
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3ed5d05b5b
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ApplyInvDexp works !!!
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2016-02-01 09:13:38 -08:00 |
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Frank Dellaert
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063e0a47ee
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Moved functors to Matrix.h, without Expression sugar
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2016-02-01 09:13:25 -08:00 |
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Frank Dellaert
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01ed8810a0
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Merge remote-tracking branch 'origin/feature/SO3_refactor' into feature/ImuFactorPush2
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2016-02-01 08:44:02 -08:00 |
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Frank Dellaert
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85fbde030b
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Made expmap only path faster by splitting functor.
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2016-02-01 08:38:19 -08:00 |
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Frank Dellaert
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c838d7c133
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Switch to Skew[axis] = Skew[omega/angle] for simpler forms
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2016-02-01 00:48:47 -08:00 |
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Frank Dellaert
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f054a00457
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Initialize
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2016-01-31 23:39:42 -08:00 |
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Frank Dellaert
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29416436eb
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Modernized all of Expmap, moved tests from SO3, added ApplyExpmapDerivative
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2016-01-31 23:29:51 -08:00 |
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Frank Dellaert
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8f0622c834
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Merge remote-tracking branch 'origin/develop' into feature/ImuFactorPush2
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2016-01-31 21:59:23 -08:00 |
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Frank Dellaert
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4a38c4f802
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Merged in feature/MatrixExpressions (pull request #212)
Derivative of multiplying with inverse of matrix
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2016-01-31 21:58:45 -08:00 |
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Frank Dellaert
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cb93c2bfc1
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Multiplying with the inverse of a matrix function
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2016-01-31 20:11:17 -08:00 |
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Frank Dellaert
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e6521703e6
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Derivative of multiplying with inverse of matrix
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2016-01-31 16:26:36 -08:00 |
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Frank Dellaert
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7dce902f2f
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Cleaned up a test, added loop case
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2016-01-31 16:19:16 -08:00 |
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Frank Dellaert
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fc500eea33
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Fixed init bug
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2016-01-31 16:18:52 -08:00 |
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Frank Dellaert
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15e3b2ea34
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Merging factors
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2016-01-31 02:08:33 -08:00 |
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Frank Dellaert
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e9f6b52620
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Fixed incorrect name change
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2016-01-31 01:25:14 -08:00 |
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Frank Dellaert
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77969f97d9
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Merging works great with numerical derivative of keystone block
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2016-01-31 01:24:30 -08:00 |
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Frank Dellaert
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ebba015227
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Rename key method
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2016-01-30 18:29:26 -08:00 |
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Frank Dellaert
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3819b292ec
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Removed some obsolete methods
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2016-01-30 16:59:28 -08:00 |
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Frank Dellaert
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2fe803a62e
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More common parameters, realistic noise parameters
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2016-01-30 16:59:10 -08:00 |
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Frank Dellaert
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0d07e8764d
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mergeWith prototype
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2016-01-30 16:58:39 -08:00 |
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Frank Dellaert
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e626de696a
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Start of Merging measurements: means match
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2016-01-30 14:52:49 -08:00 |
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Frank Dellaert
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d9128fe461
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Isolated (slow to compile) serialization tests
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2016-01-30 14:14:30 -08:00 |
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Frank Dellaert
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5cf98313bd
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Combined two methods and renamed static method
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2016-01-30 13:43:46 -08:00 |
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Frank Dellaert
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77d4e4c33e
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Got rid of spurious argument
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2016-01-30 13:29:02 -08:00 |
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Frank Dellaert
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14a87c4ecc
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Renamed zeta to preintegrated
Simplified sensor pose handling
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2016-01-30 13:13:48 -08:00 |
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Frank Dellaert
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ba5d4ffa6c
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Don't use numerical derivative
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2016-01-30 12:45:27 -08:00 |
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Frank Dellaert
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f498a96582
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Got rid of cumbersome TangentVector struct
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2016-01-30 12:42:01 -08:00 |
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Frank Dellaert
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2a244cac12
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Drastic simplification triumph !
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2016-01-30 11:58:11 -08:00 |
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Frank Dellaert
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b7d54e60b6
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Radically simplified bias derivative tests
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2016-01-30 11:42:55 -08:00 |
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Frank Dellaert
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5d95d66077
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Simplifying bias tests
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2016-01-30 11:00:25 -08:00 |
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Frank Dellaert
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984a90672f
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Deprecated constructor + fixed parameter name
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2016-01-30 10:19:04 -08:00 |
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Frank Dellaert
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3a2c2e23be
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Small refactor for clarity
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2016-01-30 10:10:43 -08:00 |
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Frank Dellaert
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3af7e80f97
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Derivatives match!
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2016-01-30 09:52:13 -08:00 |
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Frank Dellaert
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d2d6590854
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Refactor of bias derivatives.
New bias derivatives work for acc but not omega
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2016-01-29 23:27:59 -08:00 |
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Frank
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23e76efdc4
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Some instrumentation
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2016-01-29 17:42:19 -08:00 |